CN111713002B - Power conversion device, driving device, and power steering device - Google Patents

Power conversion device, driving device, and power steering device Download PDF

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Publication number
CN111713002B
CN111713002B CN201980013011.4A CN201980013011A CN111713002B CN 111713002 B CN111713002 B CN 111713002B CN 201980013011 A CN201980013011 A CN 201980013011A CN 111713002 B CN111713002 B CN 111713002B
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Prior art keywords
inverter
arm element
power
motor
upper arm
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CN201980013011.4A
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CN111713002A (en
Inventor
锅师香织
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Nidec Corp
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Nidec Corp
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    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02M—APPARATUS FOR CONVERSION BETWEEN AC AND AC, BETWEEN AC AND DC, OR BETWEEN DC AND DC, AND FOR USE WITH MAINS OR SIMILAR POWER SUPPLY SYSTEMS; CONVERSION OF DC OR AC INPUT POWER INTO SURGE OUTPUT POWER; CONTROL OR REGULATION THEREOF
    • H02M1/00—Details of apparatus for conversion
    • H02M1/32—Means for protecting converters other than automatic disconnection
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02M—APPARATUS FOR CONVERSION BETWEEN AC AND AC, BETWEEN AC AND DC, OR BETWEEN DC AND DC, AND FOR USE WITH MAINS OR SIMILAR POWER SUPPLY SYSTEMS; CONVERSION OF DC OR AC INPUT POWER INTO SURGE OUTPUT POWER; CONTROL OR REGULATION THEREOF
    • H02M7/00—Conversion of ac power input into dc power output; Conversion of dc power input into ac power output
    • H02M7/42—Conversion of dc power input into ac power output without possibility of reversal
    • H02M7/44—Conversion of dc power input into ac power output without possibility of reversal by static converters
    • H02M7/48—Conversion of dc power input into ac power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode
    • H02M7/53—Conversion of dc power input into ac power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal
    • H02M7/537—Conversion of dc power input into ac power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal using semiconductor devices only, e.g. single switched pulse inverters
    • H02M7/5387—Conversion of dc power input into ac power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal using semiconductor devices only, e.g. single switched pulse inverters in a bridge configuration
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P25/00—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details
    • H02P25/16—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details characterised by the circuit arrangement or by the kind of wiring
    • H02P25/22—Multiple windings; Windings for more than three phases
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P27/00—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage
    • H02P27/04—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage
    • H02P27/06—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02M—APPARATUS FOR CONVERSION BETWEEN AC AND AC, BETWEEN AC AND DC, OR BETWEEN DC AND DC, AND FOR USE WITH MAINS OR SIMILAR POWER SUPPLY SYSTEMS; CONVERSION OF DC OR AC INPUT POWER INTO SURGE OUTPUT POWER; CONTROL OR REGULATION THEREOF
    • H02M1/00—Details of apparatus for conversion
    • H02M1/32—Means for protecting converters other than automatic disconnection
    • H02M1/325—Means for protecting converters other than automatic disconnection with means for allowing continuous operation despite a fault, i.e. fault tolerant converters
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02M—APPARATUS FOR CONVERSION BETWEEN AC AND AC, BETWEEN AC AND DC, OR BETWEEN DC AND DC, AND FOR USE WITH MAINS OR SIMILAR POWER SUPPLY SYSTEMS; CONVERSION OF DC OR AC INPUT POWER INTO SURGE OUTPUT POWER; CONTROL OR REGULATION THEREOF
    • H02M7/00—Conversion of ac power input into dc power output; Conversion of dc power input into ac power output
    • H02M7/42—Conversion of dc power input into ac power output without possibility of reversal
    • H02M7/44—Conversion of dc power input into ac power output without possibility of reversal by static converters
    • H02M7/48—Conversion of dc power input into ac power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode
    • H02M7/493—Conversion of dc power input into ac power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode the static converters being arranged for operation in parallel

Abstract

The power conversion device includes: a 1 st inverter having an upper arm element and a lower arm element, and connected to one end of each phase winding of the motor; a 2 nd inverter having an upper arm member and a lower arm member, and connected to the other end opposite to the one end; a 1 st power supply that supplies power to the upper arm element of the 1 st inverter and the lower arm element of the 2 nd inverter; and a 2 nd power source that supplies power to the upper arm element of the 2 nd inverter and the lower arm element of the 1 st inverter.

Description

Power conversion device, driving device, and power steering device
Technical Field
The present invention relates to an electric power conversion device, a driving device, and a power steering device.
Background
Conventionally, an inverter drive system is known in which electric power of a motor is converted by two inverters. Further, an inverter drive system is also known in which inverters are connected to both ends of each winding of a motor, and power is supplied to each winding independently.
For example, patent document 1 discloses a power conversion device having two inverter units. In patent document 1, a failure of a switching element is detected by a failure detection unit. When the switching element fails, the on/off operation control of the switching element is switched from the normal control to the failure time control to drive the rotary electric machine (motor) in order to continue driving the rotary electric machine.
Prior art literature
Patent literature
Patent document 1: japanese patent application laid-open No. 2014-192950
Disclosure of Invention
Problems to be solved by the invention
In recent years, regarding power supply in a power conversion device, a driving device, and a power steering device, it has been demanded to increase the durability of power supply by making all or part of a driving system including a power source and a control circuit redundant. In particular, in the above-described system in which power is supplied to each winding of the motor independently, it is required to continue the power supply by using one of the redundant power supplies when an abnormality occurs in the other power supply.
Accordingly, an object of the present invention is to provide a power conversion device, a driving device, and a power steering device that can continue power supply using one power source when an abnormality occurs in the other power source.
Means for solving the problems
The power conversion device according to one embodiment of the present invention includes: a 1 st inverter having an upper arm element and a lower arm element, and connected to one end of each phase winding of the motor; a 2 nd inverter having an upper arm member and a lower arm member, and connected to the other end opposite to the one end; a 1 st power supply that supplies power to the upper arm element of the 1 st inverter and the lower arm element of the 2 nd inverter; and a 2 nd power source that supplies power to the upper arm element of the 2 nd inverter and the lower arm element of the 1 st inverter.
Further, a driving device according to an embodiment of the present invention includes: the above-described power conversion device; and a motor connected to the power conversion device and supplied with the power converted by the power conversion device.
Further, a power steering device according to an embodiment of the present invention includes: the above-described power conversion device; a motor connected to the power conversion device and configured to supply power converted by the power conversion device; and a power steering mechanism driven by the motor.
Effects of the invention
According to the present invention, when an abnormality occurs in one of the power supplies, the power supply can be continued using the other power supply.
Drawings
Fig. 1 is a diagram schematically showing a block structure of a motor drive unit of the present embodiment.
Fig. 2 is a diagram schematically showing a circuit configuration of the motor drive unit of the present embodiment.
Fig. 3 is a graph showing current values flowing in the coils of the respective phases of the motor at normal times.
Fig. 4a is a diagram showing an example of current values flowing in each coil of each phase of the motor at the time of abnormality.
Fig. 4b is a diagram showing a modification of the current value flowing in each coil of each phase of the motor at the time of abnormality.
Fig. 5 is a diagram schematically showing a hardware configuration of the motor drive unit.
Fig. 6 is a diagram schematically showing the hardware configuration of the 1 st mount substrate and the 2 nd mount substrate.
Fig. 7 schematically shows a hardware configuration of a mounting board according to a modification of the present embodiment.
Fig. 8 is a diagram schematically showing a hardware configuration of a mounting board according to another modification of the present embodiment.
Fig. 9 is a diagram schematically showing the structure of the power steering apparatus of the present embodiment.
Detailed Description
Embodiments of the power conversion device, the driving device, and the power steering device of the present disclosure are described in detail below with reference to the drawings. However, in order to avoid unnecessary redundancy of the following description, those skilled in the art will readily understand that an excessive detailed description may be omitted. For example, a detailed description of known matters and a repeated description of substantially the same structure may be omitted.
In the present specification, embodiments of the present disclosure will be described taking as an example a power conversion device that converts power from a power source into power to be supplied to a 3-phase motor having 3-phase (U-phase, V-phase, W-phase) windings (sometimes referred to as "coils"). However, a power conversion device that converts power from a power source into power to be supplied to an n-phase motor having 4-phase or 5-phase equal n-phase windings (n is an integer of 4 or more) is also within the scope of the present disclosure.
(construction of motor drive Unit 1000)
Fig. 1 is a diagram schematically showing a block structure of a motor drive unit 1000 of the present embodiment. The motor driving unit 1000 includes power supply devices 101 and 102, a motor 200, and control circuits 301 and 302.
In this specification, a motor drive unit 1000 having a motor 200 as a constituent element will be described. The motor driving unit 1000 having the motor 200 corresponds to an example of the driving device of the present invention. However, the motor driving unit 1000 may be a device for driving the motor 200, in which the motor 200 is omitted as a constituent element. The motor driving unit 1000 without the motor 200 corresponds to an example of the power conversion device of the present invention.
The 1 st power supply device 101 includes a 1 st inverter 111, a current sensor 401, and a voltage sensor 411. The 2 nd power supply device 102 includes the 2 nd inverter 112, the current sensor 402, and the voltage sensor 412.
The motor drive unit 1000 is capable of converting electric power from a power source (reference numerals 403, 404 of fig. 2) into electric power to be supplied to the motor 200 by the two electric power supply devices 101, 102. For example, the 1 st and 2 nd inverters 111, 112 can convert the direct-current power into three-phase alternating-current power as pseudo sine waves of the U-phase, the V-phase, and the W-phase.
Each inverter 111, 112 has an upper arm 131, 132 and a lower arm 141, 142. The 1 st inverter 111 is connected to one end 210 of each phase coil of the motor 200, and the 2 nd inverter 112 is connected to the other end 220 of each phase coil of the motor 200. In this specification, the term "connection" of components (structural elements) to each other means electrical connection unless otherwise specified.
The motor 200 is, for example, a three-phase ac motor. Motor 200 has U-phase, V-phase and W-phase coils. The winding mode of the coil is, for example, concentrated winding or distributed winding.
As will be described in detail later, the control circuits 301, 302 have microcontrollers 341, 342, and the like. The 1 st control circuit 301 controls the upper arm 131 of the 1 st inverter 111 and the lower arm 142 of the 2 nd inverter 112 based on input signals from the current sensor 401 and the angle sensor 321. The 2 nd control circuit 302 controls the upper arm 132 of the 2 nd inverter 112 and the lower arm 141 of the 1 st inverter 111 based on input signals from the current sensor 402 and the angle sensor 322. As a control method of the power supply devices 101, 102 in the control circuits 301, 302, for example, a control method selected from vector control and Direct Torque Control (DTC) is used.
A specific circuit configuration of the motor driving unit 1000 will be described with reference to fig. 2.
Fig. 2 is a diagram schematically showing a circuit configuration of the motor drive unit 1000 of the present embodiment.
The motor driving unit 1000 has power sources 403, 404, coils 103, 104, a capacitor 105, a 1 st inverter 111, a 2 nd inverter 112, a motor 200, and control circuits 301, 302.
The 1 st power supply 403 and the 2 nd power supply 404 are power supplies independent of each other. The power supplies 403 and 404 generate a predetermined power supply voltage (for example, 12V). As the power sources 403 and 404, for example, dc power sources are used. However, the power sources 403 and 404 may be AC-DC converters or DC-DC converters, or may be batteries (storage batteries).
Coils 103, 104 are provided between the power sources 403, 404 and the inverters 111, 112. The coils 103 and 104 function as noise filters, and smooth high-frequency noise included in the voltage waveforms supplied to the inverters 111 and 112. The coils 103 and 104 smooth the high-frequency noise to prevent the high-frequency noise generated in the inverters 111 and 112 from flowing to the power sources 403 and 404. A capacitor 105 is connected to the power supply terminals of the inverters 111 and 112. The capacitor 105 is a so-called bypass capacitor, and suppresses voltage ripple. The capacitor 105 is, for example, an electrolytic capacitor, and the capacity and the number of uses are appropriately determined according to design specifications or the like.
The 1 st inverter 111 has an upper arm 131 and a lower arm 141, and is connected to one end 210 of each phase coil of the motor 200. The upper arm 131 has three high-side switching elements connected between the power source and the motor 200, respectively. The lower arm 141 has three low-side switching elements connected between the motor 200 and the ground, respectively.
Specifically, one end 210 of the U-phase coil is connected to the high-side switching element 113H and the low-side switching element 113L. One end 210 of the V-phase coil is connected to the high-side switching element 114H and the low-side switching element 114L. One end 210 of the W-phase coil is connected to the high-side switching element 115H and the low-side switching element 115L. As the switching element, for example, a field effect transistor (MOSFET or the like) or an Insulated Gate Bipolar Transistor (IGBT) is used. In addition, when the switching element is an IGBT, a diode (flywheel) is connected in anti-parallel with the switching element.
The 1 st inverter 111 has shunt resistors 113R, 114R, and 115R, for example, in each branch, and serves as a current sensor 401 (see fig. 1) for detecting currents flowing through each of the U-phase, V-phase, and W-phase windings. The current sensor 401 includes a current detection circuit (not shown) for detecting a current flowing through each shunt resistor. For example, shunt resistors can be connected between the low-side switching elements 113L, 114L, and 115L and the ground terminal. The resistance value of the shunt resistor is, for example, about 0.5mΩ to 1.0mΩ.
The number of shunt resistors may be other than three. For example, two shunt resistors 113R, 114R, V for U-phase and V-phase, two shunt resistors 114R, 115R for W-phase, or two shunt resistors 113R, 115R for U-phase and W-phase may be used. The number of shunt resistors used and the configuration of the shunt resistors are appropriately determined in consideration of the product cost, design specifications, and the like.
The 2 nd inverter 112 has an upper arm 132 and a lower arm 142, and is connected to the other end 220 of each phase coil of the motor 200. The upper arm 132 has three high-side switching elements connected between the power supply and the motor 200, respectively. The lower arm 142 has three low-side switching elements connected between the motor 200 and the ground, respectively.
Specifically, the other end 220 of the U-phase coil is connected to the high-side switching element 116H and the low-side switching element 116L. The other end 220 of the V-phase coil is connected to the high-side switching element 117H and the low-side switching element 117L. The other end 220 of the W-phase coil is connected to the high-side switching element 118H and the low-side switching element 118L. Like the 1 st inverter 111, the 2 nd inverter 112 has, for example, shunt resistors 116R, 117R, and 118R.
The motor driving unit 1000 has a 1 st system corresponding to one end 210 side of the coil (winding) of the motor 200 and a 2 nd system corresponding to the other end 220 side of the coil (winding) of the motor 200. The 1 st system includes a 1 st power supply 403, a 1 st inverter 111, and a 1 st control circuit 301. The 2 nd system includes a 2 nd power supply 404, a 2 nd inverter 112, and a 2 nd control circuit 302.
The object of the power supply by the power sources 403 and 404 and the object of the control by the control circuits 301 and 302 span the two systems described above.
The 1 st power supply 403 supplies power to the upper arm 131 of the 1 st inverter 111 and the lower arm 142 of the 2 nd inverter 112. The 2 nd power supply 404 supplies power to the upper arm 132 of the 2 nd inverter 112 and the lower arm 141 of the 1 st inverter 111.
The 1 st control circuit 301 controls the upper arm 131 of the 1 st inverter 111 and the lower arm 142 of the 2 nd inverter 112. The 2 nd control circuit 302 controls the upper arm 132 of the 2 nd inverter 112 and the lower arm 141 of the 1 st inverter 111.
Referring again to fig. 1. The control circuits 301 and 302 include, for example, power supply circuits 311 and 312, angle sensors 321 and 322, input circuits 331 and 332, microcontrollers 341 and 342, drive circuits 351 and 352, and ROMs 361 and 362. The control circuits 301 and 302 are connected to the power supply devices 101 and 102. As described above, the control circuits 301 and 302 control the 1 st inverter 111 and the 2 nd inverter 112.
The control circuits 301 and 302 can control the position (rotation angle), rotation speed, current, and the like of the target rotor to realize closed-loop control. The rotation speed is obtained by differentiating the rotation angle (rad) with time, and is expressed by the number of revolutions (rpm) in which the inner rotor rotates in a unit time (for example, 1 minute). The control circuits 301 and 302 can control the target motor torque. The control circuits 301 and 302 may have torque sensors for torque control, but torque control can be performed even if the torque sensors are omitted. In addition, instead of the angle sensor, a sensorless algorithm may be provided. The two control circuits 301 and 302 synchronize their control operations by controlling the control circuits in synchronization with the rotation of the motors.
The power supply circuits 311 and 312 generate DC voltages (e.g., 3V and 5V) required for the respective blocks in the circuits.
The angle sensors 321 and 322 are, for example, rotary transformers or hall ICs. The angle sensors 321, 322 can also be realized by a combination of a Magnetoresistive (MR) sensor having an MR element and a sensor magnet. The angle sensors 321 and 322 detect the rotation angle of the rotor of the motor 200, and output rotation signals indicating the detected rotation angle to the microcontrollers 341 and 342. Depending on the motor control method (e.g., sensorless control), the angle sensors 321, 322 are sometimes omitted.
The voltage sensors 411 and 412 detect voltages between phases of the coil of the motor 200, and output the detected voltage values to the input circuits 331 and 332.
The input circuits 331, 332 receive motor current values (hereinafter, referred to as "actual current values") detected by the current sensors 401, 402 and voltage values detected by the voltage sensors 411, 412. The input circuits 331, 332 convert the levels of the actual current values and the voltage values to the input levels of the microcontrollers 341, 342 as needed, and output the actual current values and the voltage values to the microcontrollers 341, 342. The input circuits 331, 332 are analog-to-digital conversion circuits.
The microcontrollers 341, 342 receive the rotation signals of the rotors detected by the angle sensors 321, 322, and receive the actual current values and voltage values output from the input circuits 331, 332. The microcontrollers 341 and 342 set a target current value based on the actual current value, the rotation signal of the rotor, and the like, generate PWM signals, and output the generated PWM signals to the driving circuits 351 and 352. For example, the microcontrollers 341, 342 generate PWM signals for controlling the switching operation (on or off) of the switching elements in the inverters 111, 112 of the power supply devices 101, 102.
The microcontrollers 341 and 342 can determine a control method for controlling the 1 st inverter 111 and the 2 nd inverter 112 from the received voltage values.
The driving circuits 351 and 352 are, for example, gate drivers. The driving circuits 351 and 352 generate control signals (for example, gate control signals) for controlling switching operations of the switching elements in the 1 st inverter 111 and the 2 nd inverter 112 based on the PWM signals, and supply the generated control signals to the switching elements.
The microcontrollers 341, 342 may also have the function of the drive circuits 351, 352. In this case, the driving circuits 351 and 352 are omitted.
The ROM 361, 362 is, for example, a writable memory (e.g., PROM), a rewritable memory (e.g., flash memory), or a read-only memory. The ROMs 361, 362 store control programs including instruction sets for causing the microcontrollers 341, 342 to control the power supply devices 101, 102 (mainly the inverters 111, 112). For example, the control program is once loaded in a RAM (not shown) temporarily at the time of startup.
There is control at normal time and abnormal time in the control of the inverters 111, 112 by the control circuits 301, 302 (mainly the microcontrollers 341, 342).
Hereinafter, a specific example of the operation of the motor drive unit 1000 will be described, and a specific example of the operation of the inverters 111 and 112 will be mainly described.
(control at Normal time)
First, a specific example of a control method of the inverters 111 and 112 at the time of normal operation will be described. The normal state is a state in which both the two power supplies 403 and 404, the two inverters 111 and 112, and the two control circuits 301 and 302 are correctly operated.
In normal operation, the control circuits 301 and 302 drive the motor 200 by performing three-phase energization control using both the upper arms 131 and 132 and the lower arms 141 and 142 of the 1 st inverter 111 and the 2 nd inverter 112. As an example, the control circuits 301 and 302 can perform three-phase energization control by performing switching control on the switching element of the 1 st inverter 111 and the switching element of the 2 nd inverter 112 according to a duty ratio that varies periodically. The duty cycle of each of the 1 st inverter 111 and the 2 nd inverter 112 is changed by the control circuits 301 and 302. The control circuits 301 and 302 may be switched to, for example, periodic fluctuations with inverted phases (phase difference=180°) in the 1 st inverter 111 and the 2 nd inverter 112.
Fig. 3 is a graph showing current values flowing in the coils of the respective phases of the motor 200 at normal times.
Fig. 3 illustrates a current waveform (sine wave) obtained by plotting current values flowing through the coils of the U-phase, V-phase, and W-phase of the motor 200 when the 1 st inverter 111 and the 2 nd inverter 112 are controlled in accordance with three-phase energization control at normal times. The horizontal axis of fig. 3 represents the motor electrical angle (degrees), and the vertical axis represents the current value (a). I pk The maximum current value (peak current value) of each phase is shown. In addition to the sine wave illustrated in fig. 3, the power supply devices 101 and 102 may drive the motor 200 using, for example, a rectangular wave.
Table 1 shows the current values flowing in the terminals of the respective inverters at each electrical angle in the sine wave of fig. 3. Specifically, table 1 shows current values per 30 ° electrical angle flowing at points where the 1 st inverter 111 is connected to one end 210 of each of the coils of the U-phase, V-phase, and W-phase. Table 1 shows current values per 30 ° electrical angle flowing at points where the 2 nd inverter 112 is connected to the other ends 220 of the coils of the U-, V-and W-phases. Here, regarding the 1 st inverter 111, a current direction flowing from one end 210 to the other end 220 of the motor 200 is defined as a positive direction. In addition, regarding the 2 nd inverter 112, the direction of the current flowing from the other end 220 of the motor 200 to the one end 210 is defined as the positive direction. Therefore, the phase difference between the current of the 1 st inverter 111 and the current of the 2 nd inverter 112 is 180 °. In Table 1, the current value I 1 Size [ (3) 1/2 /2]＊I pk Current value I 2 Is of the size I pk /2。
TABLE 1
At an electrical angle of 0 °, the current in the U-phase coil is "0". At an electrical angle of 0 °, a flow of magnitude I is made in the V-phase coil from the 2 nd inverter 112 to the 1 st inverter 111 1 The current of (2) flows in the W-phase coil from the 1 st inverter 111 to the 2 nd inverter 112 with a magnitude of I 1 Is set in the above-described range).
At an electrical angle of 30 °, a flow of magnitude I is provided in the U-phase coil from the 1 st inverter 111 to the 2 nd inverter 112 2 The current of (2) is flowing from the 2 nd inverter 112 to the 1 st inverter 111 in the V-phase coil with the magnitude of I pk The current of (2) flows in the W-phase coil from the 1 st inverter 111 to the 2 nd inverter 112 with a magnitude of I 2 Is set in the above-described range).
At an electrical angle of 60 °, a flow of magnitude I is provided in the U-phase coil from the 1 st inverter 111 to the 2 nd inverter 112 1 The current of (2) is flowing from the 2 nd inverter 112 to the 1 st inverter 111 in the V-phase coil with the magnitude of I 1 Is set in the above-described range). At an electrical angle of 60 °, the current in the W-phase coil is "0".
At an electrical angle of 90 °, a flow of magnitude I is provided in the U-phase coil from the 1 st inverter 111 to the 2 nd inverter 112 pk The current of (2) is flowing from the 2 nd inverter 112 to the 1 st inverter 111 in the V-phase coil with the magnitude of I 2 The current of (2) is flowing from the 2 nd inverter 112 to the 1 st inverter 111 in the W-phase coil with the magnitude of I 2 Is set in the above-described range).
At an electrical angle of 120 °, a flow of magnitude I is provided in the U-phase coil from the 1 st inverter 111 to the 2 nd inverter 112 1 The current of (2) is flowing from the 2 nd inverter 112 to the 1 st inverter 111 in the W-phase coil with the magnitude of I 1 Is set in the above-described range). At an electrical angle of 120 °, the current in the V-phase coil is "0".
At an electrical angle of 150 °, a flow of magnitude I is provided in the U-phase coil from the 1 st inverter 111 to the 2 nd inverter 112 2 The current of (2) flows in the V-phase coil from the 1 st inverter 111 to the 2 nd inverter 112 with a magnitude of I 2 The current of (2) is flowing from the 2 nd inverter 112 to the 1 st inverter 111 in the W-phase coil with the magnitude of I pk Is set in the above-described range).
At an electrical angle of 180 °, the current in the U-phase coil is "0". At an electrical angle of 180 °, a flow of magnitude I is provided in the V-phase coil from the 1 st inverter 111 to the 2 nd inverter 112 1 The current of (2) is flowing from the 2 nd inverter 112 to the 1 st inverter 111 in the W-phase coil with the magnitude of I 1 Is set in the above-described range).
At an electrical angle of 210 °, a flow of magnitude I is provided in the U-phase coil from the 2 nd inverter 112 to the 1 st inverter 111 2 The current of (2) flows in the V-phase coil from the 1 st inverter 111 to the 2 nd inverter 112 with a magnitude of I pk The current of (2) is flowing from the 2 nd inverter 112 to the 1 st inverter 111 in the W-phase coil with the magnitude of I 2 Is set in the above-described range).
At an electrical angle of 240 °, a flow of magnitude I is provided in the U-phase coil from the 2 nd inverter 112 to the 1 st inverter 111 1 The current of (2) flows in the V-phase coil from the 1 st inverter 111 to the 2 nd inverter 112 with a magnitude of I 1 Is set in the above-described range). At an electrical angle of 240 °, the current in the W-phase coil is "0".
At an electrical angle of 270 °, a flow of magnitude I is provided in the U-phase coil from the 2 nd inverter 112 to the 1 st inverter 111 pk The current of (2) flows in the V-phase coil from the 1 st inverter 111 to the 2 nd inverter 112 with a magnitude of I 2 The current of (2) flows in the W-phase coil from the 1 st inverter 111 to the 2 nd inverter 112 with a magnitude of I 2 Is set in the above-described range).
At an electrical angle of 300 °, a flow of magnitude I is made in the U-phase coil from the 2 nd inverter 112 to the 1 st inverter 111 1 The current of (2) flows in the W-phase coil from the 1 st inverter 111 to the 2 nd inverter 112 with a magnitude of I 1 Is set in the above-described range). At an electrical angle of 300 °, the current in the V-phase coil is "0".
At an electrical angle of 330 °, a flow of magnitude I is provided in the U-phase coil from the 2 nd inverter 112 to the 1 st inverter 111 2 The current of (2) is flowing from the 2 nd inverter 112 to the 1 st inverter 111 in the V-phase coil with the magnitude of I 2 The current of (2) flows in the W-phase coil from the 1 st inverter 111 to the 2 nd inverter 112 with a magnitude of I pk Is set in the above-described range).
In the current waveform shown in fig. 3, the sum of currents flowing in the three-phase coil when the current direction is considered is "0" at each electrical angle. However, according to the circuit configuration of the power supply devices 101, 102, the currents flowing in the three-phase coils are independently controlled. Therefore, the control circuits 301 and 302 can also control the sum of the currents to a value other than "0".
(control at abnormality)
A specific example of a control method of the 1 st inverter 111 and the 2 nd inverter 112 at the time of abnormality will be described.
The abnormality is a state in which one or more of the two power supplies 403, 404, the two inverters 111, 112, and the two control circuits 301, 302 has failed. Roughly divided, there are abnormality of the 1 st system and abnormality of the 2 nd system among the abnormalities. As the abnormality of each system, there is an abnormality caused by a failure of the inverters 111, 112, and an abnormality of the drive system including the power supplies 403, 404 and the control circuits 301, 302. Faults of the inverters 111 and 112 include disconnection, short-circuit, and switching element faults in the inverter circuit.
The "abnormality of the drive system" includes various abnormal states such as an abnormality of only the power supplies 403 and 404, an abnormality of only the control circuits 301 and 302, an abnormality of both the power supplies 403 and 404 and the control circuits 301 and 302, and a state in which the control circuits 301 and 302 are stopped due to an abnormality of the power supplies 403 and 404.
As a control method at the time of abnormality caused by a failure of the inverters 111, 112, for example, a control method described in japanese patent application laid-open No. 2014-192950 or the like is used. Hereinafter, a control method at the time of abnormality of the drive system will be described.
As an example of abnormality detection, the control circuits 301 and 302 (mainly the microcontrollers 341 and 342) analyze the voltage values detected by the voltage sensors 411 and 412 to detect an abnormality in the opposite system of the two systems, which is opposite to the system to which the control circuits belong. The control circuits 301 and 302 can confirm the voltages of the upper arms 131 and 132 and the lower arms 141 and 142 under the control of the control circuits 301 and 302 on the other side by means of the upper arms 131 and 132 and the lower arms 141 and 142 under the control of themselves. Specifically, the upper arms 131, 132 and the lower arms 141, 142 of the one inverter 111, 112, which are connected to each other, are control targets of different control circuits 301, 302. The voltage sensors 411 and 412 detect voltages of wirings connecting the upper arms 131 and 132 and the lower arms 141 and 142.
As another example of abnormality detection, the microcontrollers 341, 342 can also detect an abnormality by analyzing the difference between the actual current value of the motor and the target current value or the like. However, the control circuits 301 and 302 are not limited to these methods, and known methods related to abnormality detection can be widely used.
When the microcontrollers 341, 342 detect an abnormality, the control circuits 301, 302 switch the control of the inverters 111, 112 from the control at the time of normal to the control at the time of abnormality. For example, the timing at which control is switched from normal to abnormal is about 10msec to 30msec from the detection of an abnormality.
The control circuits 301 and 302 perform half-wave drive control of the inverters 111 and 112 at the time of abnormality. In the half-wave drive control, only the upper arms 131, 132 and the lower arms 141, 142 of the inverters 111, 112, which are controlled by the normal control circuits 301, 302, are driven.
For example, when one of the 1 st power supply 403 and the 2 nd power supply 404 is malfunctioning, the control circuits 301 and 302 use the other power supply to drive the 1 st inverter 111 and the 2 nd inverter 112. As a result, the motor drive unit 1000 can continue power supply using one of the power sources 403 and 404 when an abnormality occurs in the other power source.
Specifically, when the control circuit 301 of the 1 st system detects an abnormality in the drive system of the 2 nd system, the control circuit 301 of the 1 st system supplies electric power to the motor 200 only by controlling the drive of the upper arm 131 of the 1 st inverter 111 and the lower arm 142 of the 2 nd inverter 112. The control circuit 301 of the 1 st system controls the operation of the 2 nd system side driving system including the 2 nd power supply 404 and the 2 nd control circuit 302 according to whether or not the operation is normal.
When the control circuit 302 of the 2 nd system detects an abnormality in the drive system of the 1 st system, the control circuit 302 of the 2 nd system supplies electric power to the motor 200 only by controlling the drive of the upper arm 132 of the 2 nd inverter 112 and the lower arm 141 of the 1 st inverter 111. The control circuit 302 of the 2 nd system controls the operation of the 1 st system side driving system including the 1 st power supply 403 and the 1 st control circuit 301 according to whether or not the operation is normal.
In the 1 st and 2 nd systems, the control circuits 301 and 302 perform control in accordance with the state of the other side, and even when any one of the 1 st and 2 nd systems is abnormal, appropriate drive control can be performed to supply electric power. Fig. 4a is a graph showing current values flowing in the coils of the respective phases of the motor 200 at the time of abnormality.
Fig. 4a illustrates current waveforms obtained by plotting current values flowing in the U-phase, V-phase, and W-phase coils of the motor 200 when the 1 st inverter 111 and the 2 nd inverter 112 are controlled in accordance with half-wave drive control at the time of abnormality. The horizontal axis of fig. 4a represents the motor electrical angle (degrees), and the vertical axis represents the current value (a). I pk The maximum current value (peak current value) of each phase is shown.
According to the current waveform illustrated in fig. 4a, the output torque of the motor is a constant value. The power supply devices 101 and 102 may drive the motor 200 using a current waveform other than the current waveform illustrated in fig. 4 a. For example, the power supply devices 101 and 102 can drive the motor 200 by using the trapezoidal current waveform illustrated in fig. 4 b.
Table 2 illustrates current values flowing in the coils of the U-phase, V-phase, and W-phase of the motor 200 at each electrical angle in the case where the 1 st inverter 111 and the 2 nd inverter 112 are controlled in accordance with energization control in which the current waveforms shown in fig. 4a can be obtained. Specifically, table 2 shows, for example, current values per 30 ° electrical angle flowing at points where the 2 nd inverter 112 is connected to the other ends 220 of the coils of the U-phase, V-phase, and W-phase when an abnormality occurs on the 1 st system side. The current direction is defined as described above.
TABLE 2
At an electrical angle of 0 °, a flow of the magnitude I is made in the U-phase coil from the 2 nd inverter 112 to the 1 st inverter 111 2 The current of (2) is flowing from the 2 nd inverter 112 to the 1 st inverter 111 in the W-phase coil with the magnitude of I pk Is "0" in the V-phase coil.
At an electrical angle of 30 °, a flow of the magnitude I is made in the U-phase coil from the 2 nd inverter 112 to the 1 st inverter 111 1 The current of (2) is flowing from the 2 nd inverter 112 to the 1 st inverter 111 in the W-phase coil with the magnitude of I 1 Is "0" in the V-phase coil.
At an electrical angle of 60 °, a flow of magnitude I is provided in the U-phase coil from the 2 nd inverter 112 to the 1 st inverter 111 pk The current of (2) is flowing from the 2 nd inverter 112 to the 1 st inverter 111 in the W-phase coil with the magnitude of I 2 Is "0" in the V-phase coil.
At an electrical angle of 90 °, a flow of magnitude I is provided in the U-phase coil from the 2 nd inverter 112 to the 1 st inverter 111 1 Is "0" in the V-phase and W-phase coils.
At an electrical angle of 120 °, a flow of magnitude I is provided in the U-phase coil from the 2 nd inverter 112 to the 1 st inverter 111 pk The current of (2) is flowing from the 2 nd inverter 112 to the 1 st inverter 111 in the V-phase coil with the magnitude of I 2 Is "0" in the W-phase coil.
At an electrical angle of 150 °, a flow of magnitude I is provided in the U-phase coil from the 2 nd inverter 112 to the 1 st inverter 111 1 The current of (2) is flowing from the 2 nd inverter 112 to the 1 st inverter 111 in the V-phase coil with the magnitude of I 1 Is "0" in the W-phase coil.
At an electrical angle of 180 °, a flow of magnitude I is provided in the U-phase coil from the 2 nd inverter 112 to the 1 st inverter 111 2 The current of (2) is flowing from the 2 nd inverter 112 to the 1 st inverter 111 in the V-phase coil with the magnitude of I pk Is "0" in the W-phase coil.
At an electrical angle of 210 °, a flow of magnitude I is provided in the V-phase coil from the 2 nd inverter 112 to the 1 st inverter 111 1 Is "0" in the U-phase and W-phase coils.
When the electrical angle is 240 °, the current is "0" in the U-phase coil, and the current flows from the 2 nd inverter 112 to the 1 st inverter 111 in the V-phase coil by the magnitude I pk The current of (2) is flowing from the 2 nd inverter 112 to the 1 st inverter 111 in the W-phase coil with the magnitude of I 2 Is set in the above-described range).
When the electric angle is 270 °, the current is "0" in the U-phase coil, and the current flows from the 2 nd inverter 112 to the 1 st inverter 111 in the V-phase coil by the magnitude I 1 The current of (2) is flowing from the 2 nd inverter 112 to the 1 st inverter 111 in the W-phase coil with the magnitude of I 1 Is set in the above-described range).
When the electric angle is 300 °, the current is "0" in the U-phase coil, and the current flows from the 2 nd inverter 112 to the 1 st inverter 111 in the V-phase coil by the magnitude I 2 The current of (2) is flowing from the 2 nd inverter 112 to the 1 st inverter 111 in the W-phase coil with the magnitude of I pk Is set in the above-described range).
When the electrical angle is 330 °, the current is "0" in the U-phase and V-phase coils, and the current flows from the 2 nd inverter 112 to the 1 st inverter 111 in the W-phase coil by the magnitude I 1 Is set in the above-described range).
(hardware structure of motor drive unit 1000)
Next, a hardware configuration of the motor driving unit 1000 will be described.
Fig. 5 is a diagram schematically showing a hardware configuration of the motor drive unit 1000.
The motor driving unit 1000 includes the 1 st mounting substrate 1001, the 2 nd mounting substrate 1002, the housing 1003, the connectors 1004, 1005, and the motor 200 described above as hardware structures.
One end 210 and the other end 220 of the coil protrude from the motor 200 and extend toward the mounting substrates 1001, 1002. One end 210 and the other end 220 of the coil are connected to one of the 1 st mounting substrate 1001 and the 2 nd mounting substrate 1002, and the one end 210 and the other end 220 penetrate the one of the 1 st mounting substrate 1001 and the 2 nd mounting substrate 1002 and are connected to the other mounting substrate. Specifically, for example, both the one end 210 and the other end 220 of the coil are connected to the 2 nd mounting substrate 1002. In addition, both the one end 210 and the other end 220 of the coil penetrate the 2 nd mounting substrate 1002 and are connected to the 1 st mounting substrate 1001.
The substrate surfaces of the 1 st mounting substrate 1001 and the 2 nd mounting substrate 1002 face each other. The rotation axis of the motor 200 extends in the direction in which the substrate surfaces face each other. The 1 st mounting substrate 1001, the 2 nd mounting substrate 1002, and the motor 200 are housed in the case 1003, whereby the positions of the substrates are fixed to each other.
A connector 1004 connected to a power line from the 1 st power supply 403 is mounted on the 1 st mounting board 1001. A connector 1005 connected to a power line from the 2 nd power supply 404 is mounted on the 2 nd mounting board 1002.
Fig. 6 is a diagram schematically showing the hardware configuration of the 1 st mounting substrate 1001 and the 2 nd mounting substrate 1002.
The 1 st mounting board 1001 is mounted with the upper arm 131 of the 1 st inverter 111 and the lower arm 142 of the 2 nd inverter 112. Further, the upper arm 132 of the 2 nd inverter 112 and the lower arm 141 of the 1 st inverter 111 are mounted on the 2 nd mounting substrate 1002. By distributing the components to the two mounting boards 1001 and 1002, wiring of the upper arms 131 and 132 and the lower arms 141 and 142 to the one end 210 and the other end 220 of the coil can be simplified, and efficient component arrangement can be realized.
The 1 st control circuit 301 may be mounted on the 1 st mounting board 1001. The 2 nd control circuit 302 may be mounted on the 2 nd mounting board 1002. When the control circuits 301 and 302 and the elements to be controlled by the control circuits 301 and 302 are mounted on the same mounting board, the wiring for control is housed in the board. Thereby, efficient element arrangement can be achieved.
The upper arm 131 on the 1 st mounting substrate 1001 and the lower arm 141 on the 2 nd mounting substrate 1002 may be mounted at positions overlapping each other when viewed in a direction in which the 1 st mounting substrate 1001 and the 2 nd mounting substrate 1002 face each other. The lower arm 142 on the 1 st mounting substrate 1001 and the upper arm 132 on the 2 nd mounting substrate 1002 may be mounted at positions overlapping each other when viewed in a direction in which the 1 st mounting substrate 1001 and the 2 nd mounting substrate 1002 face each other. With such a circuit arrangement, efficient element arrangement can be realized which effectively uses the arrangement area on the mounting substrates 1001, 1002.
The upper arm 131 on the 1 st mounting substrate 1001 and the upper arm 132 on the 2 nd mounting substrate 1002 may be arranged symmetrically with each other when viewed in a direction in which the 1 st mounting substrate 1001 and the 2 nd mounting substrate 1002 face each other. In addition, when viewed in a direction in which the 1 st mounting substrate 1001 and the 2 nd mounting substrate 1002 face each other, the lower arm 142 on the 1 st mounting substrate 1001 and the lower arm 141 on the 2 nd mounting substrate 1002 may be arranged symmetrically with each other. By such a symmetrical arrangement, a substrate design can be shared for the two mounting substrates 1001 and 1002.
(modification)
Fig. 7 schematically shows a hardware configuration of a mounting board according to a modification of the present embodiment.
In the modification shown in fig. 7, a double-sided mounting board 1006 is provided. An upper arm 131 of the 1 st inverter 111 and a lower arm 142 of the 2 nd inverter 112 are mounted on one of the front and back sides of the double-sided mounting substrate 1006. An upper arm 132 of the 2 nd inverter 112 and a lower arm 141 of the 1 st inverter 111 are mounted on the other surface opposite to the one surface. By distributing the components to the front and back sides of the double-sided mounting board 1006, wiring of the upper arms 131 and 132 and the lower arms 141 and 142 to the one end 210 and the other end 220 of the coil can be simplified, and efficient component arrangement can be realized.
The 1 st control circuit 301 may be mounted on one of the front and back sides. The 2 nd control circuit 302 may be mounted on the other side. When the control circuits 301 and 302 and the elements to be controlled by the control circuits 301 and 302 are mounted on the same substrate surface, the wiring for control is divided into one surface side and the other surface side, and thus efficient element arrangement can be realized.
In a specific circuit configuration on both sides of the double-sided mounting substrate 1006, the circuit configuration on one side is the same as the circuit configuration on the 1 st mounting substrate 1001 shown in fig. 6, for example, and the circuit configuration on the other side is the same as the circuit configuration on the 2 nd mounting substrate 1002 shown in fig. 6, for example. Therefore, the efficient element arrangement of the wiring paths with respect to the one end 210 and the other end 220 of the coil can be simplified, and the substrate design can be shared for both the front and back surfaces of the double-sided mounting substrate 1006.
Fig. 8 is a diagram schematically showing a hardware configuration of a mounting board according to another modification of the present embodiment.
In the hardware configuration shown in fig. 8, a 3 rd mounting substrate 1007 is provided in addition to the 1 st mounting substrate 1001 and the 2 nd mounting substrate 1002. The 3 rd mounting substrate 1007 is located between the 1 st mounting substrate 1001 and the 2 nd mounting substrate 1002, for example. For example, the control circuits 301 and 302 are mounted on the 3 rd mounting board 1007, and the upper arms 131 and 132 and the lower arms 141 and 142 of the inverters 111 and 112 are mounted on the 1 st mounting board 1001 and the 2 nd mounting board 1002 in the same manner as the hardware configuration shown in fig. 6, for example. With such a hardware configuration, the power circuit is separated from the control circuit, and therefore, safety can be improved and power supply wiring can be simplified.
(embodiment of Power steering device)
Vehicles such as automobiles generally have a power steering apparatus. The power steering apparatus generates an assist torque for assisting steering torque of a steering system generated by a driver operating a steering wheel. The assist torque is generated by the assist torque mechanism, and the operation load of the driver can be reduced. For example, the assist torque mechanism is constituted by a steering torque sensor, an ECU, a motor, a speed reduction mechanism, and the like. The steering torque sensor detects steering torque in the steering system. The ECU generates a drive signal based on a detection signal of the steering torque sensor. The motor generates an assist torque corresponding to the steering torque based on the drive signal, and transmits the assist torque to the steering system via the reduction mechanism.
The motor drive unit 1000 of the above embodiment is preferably used for a power steering device. Fig. 9 is a diagram schematically showing the structure of a power steering apparatus 2000 according to the present embodiment.
The electric power steering apparatus 2000 has a steering system 520 and an assist torque mechanism 540.
The steering system 520 includes, for example, a steering wheel 521, a steering shaft 522 (also referred to as a "steering column"), universal couplings 523A, 523B, and a rotation shaft 524 (also referred to as a "pinion shaft" or an "input shaft").
The steering system 520 includes, for example, a rack-and-pinion mechanism 525, a rack shaft 526, left and right ball joints 552A, 552B, tie rods 527A, 527B, knuckles 528A, 528B, and left and right steering wheels (e.g., left and right front wheels) 529A, 529B.
The steering wheel 521 is coupled to a rotation shaft 524 via a steering shaft 522 and universal joints 523A and 523B. The rotation shaft 524 is coupled to a rack shaft 526 via a rack-and-pinion mechanism 525. The rack-and-pinion mechanism 525 includes a pinion 531 provided on the rotation shaft 524 and a rack 532 provided on the rack shaft 526. The right end of the rack shaft 526 is coupled to the right steering wheel 529A via a ball joint 552A, a tie rod 527A, and a knuckle 528A in this order. Similarly to the right side, the left end of the rack shaft 526 is connected to the left steering wheel 529B via the ball joint 552B, the tie rod 527B, and the knuckle 528B in this order. Here, the right side and the left side coincide with the right side and the left side, respectively, as viewed from a driver sitting on the seat.
According to the steering system 520, steering torque is generated by the driver operating the steering wheel 521, and is transmitted to the left and right steering wheels 529A, 529B via the rack-and-pinion mechanism 525. Thus, the driver can operate the left and right steering wheels 529A and 529B.
The assist torque mechanism 540 includes, for example, a steering torque sensor 541, an ECU 542, a motor 543, a reduction mechanism 544, and an electric power supply device 545. The assist torque mechanism 540 applies assist torque to the steering system 520 from the steering wheel 521 to the left and right steering wheels 529A, 529B. In addition, the assist torque is sometimes referred to as "additional torque".
As the ECU 542, for example, the control circuits 301 and 302 shown in fig. 1 and the like are used. As the power supply device 545, for example, the power supply devices 101 and 102 shown in fig. 1 and the like are used. As the motor 543, for example, a motor 200 shown in fig. 1 or the like is used. When the ECU 542, the motor 543, and the power supply device 545 constitute a unit commonly referred to as an "electromechanical motor", the motor driving unit 1000 having a hardware configuration shown in fig. 5, for example, is preferably used as the unit. The mechanism constituted by the elements other than the ECU 542, the motor 543, and the power supply device 545 among the elements shown in fig. 9 corresponds to an example of a power steering mechanism driven by the motor 543.
The steering torque sensor 541 detects a steering torque of the steering system 520 applied by the steering wheel 521. The ECU 542 generates a drive signal for driving the motor 543 based on a detection signal (hereinafter referred to as "torque signal") from the steering torque sensor 541. The motor 543 generates assist torque corresponding to the steering torque based on the drive signal. The assist torque is transmitted to the rotating shaft 524 of the steering system 520 via the reduction mechanism 544. The reduction mechanism 544 is, for example, a worm gear mechanism. The assist torque is in turn transmitted from the rotating shaft 524 to the rack and pinion mechanism 525.
The power steering device 2000 is classified into a pinion assist type, a rack assist type, a column assist type, and the like according to the portion of the steering system 520 to which assist torque is applied. Fig. 9 shows a pinion-assisted power steering apparatus 2000. However, the power steering device 2000 is also applicable to a rack assist type, a column assist type, and the like.
Not only the torque signal but also, for example, a vehicle speed signal can be input to the ECU 542. The microcontroller of the ECU 542 can vector-control the motor 543 based on a torque signal, a vehicle speed signal, and the like.
The ECU 542 sets a target current value according to at least the torque signal. Preferably, the ECU 542 sets the target current value in consideration of the vehicle speed signal detected by the vehicle speed sensor, and further in consideration of the rotation signal of the rotor detected by the angle sensor. The ECU 542 can control a drive signal, that is, a drive current of the motor 543 so that an actual current value detected by a current sensor (see fig. 1) coincides with a target current value.
According to the power steering device 2000, the left and right steering wheels 529A and 529B can be operated by the rack shaft 526 using a composite torque obtained by adding the steering torque of the driver and the assist torque of the motor 543. In particular, by using the motor driving unit 1000 according to the above embodiment in the electromechanical motor, appropriate current control can be performed both in normal and abnormal situations. As a result, the assist of the power steering apparatus is continued in both the normal and abnormal situations.
Description of the reference numerals
101. 102: a power supply device; 111: a 1 st inverter; 112: a 2 nd inverter; 131. 132: an upper arm; 141. 142: a lower arm; 200: a motor; 301. 302: a control circuit; 311. 312: a power supply circuit; 321. 322: an angle sensor; 331. 332: an input circuit; 341. 342: a microcontroller; 351. 352: a driving circuit; 361. 362: a ROM; 401. 402: a current sensor; 403. 404: a power supply; 411. 412: a voltage sensor; 1000: a motor driving unit; 1001. 1002, 1007: a mounting substrate; 1006: a double-sided mounting substrate; 2000: a power steering apparatus.

Claims (9)

1. A power conversion device, comprising:
a 1 st inverter having an upper arm element and a lower arm element, and connected to one end of each phase winding of the motor;
a 2 nd inverter having an upper arm member and a lower arm member, and connected to the other end opposite to the one end;
a 1 st power supply that supplies power to the upper arm element of the 1 st inverter and the lower arm element of the 2 nd inverter; and
a 2 nd power source that supplies power to the upper arm element of the 2 nd inverter and the lower arm element of the 1 st inverter,
the power conversion device includes a control unit that drives the 1 st inverter and the 2 nd inverter by using one of the 1 st power source and the 2 nd power source when malfunction occurs in the other power source,
The control unit includes:
a 1 st control unit that controls the upper arm element of the 1 st inverter and the lower arm element of the 2 nd inverter; and
a 2 nd control unit that controls the upper arm element of the 2 nd inverter and the lower arm element of the 1 st inverter,
the 1 st control unit controls the power supply 2 and the 2 nd control unit in accordance with whether or not the operation of the 2 nd side drive system is normal,
the 2 nd control unit controls the 1 st power supply and the 1 st control unit in accordance with whether or not the operation of the 1 st side drive system is normal,
the upper arm element and the lower arm element of the 1 st inverter are controlled by the 1 st control unit and the 2 nd control unit, respectively, and the upper arm element and the lower arm element of the 2 nd inverter are controlled by the 1 st control unit and the 2 nd control unit, respectively.
2. A power conversion device, comprising:
a 1 st inverter having an upper arm element and a lower arm element, and connected to one end of each phase winding of the motor;
a 2 nd inverter having an upper arm member and a lower arm member, and connected to the other end opposite to the one end;
A 1 st power supply that supplies power to the upper arm element of the 1 st inverter and the lower arm element of the 2 nd inverter; and
a 2 nd power source that supplies power to the upper arm element of the 2 nd inverter and the lower arm element of the 1 st inverter,
the power conversion device includes:
a 1 st mounting substrate on which the upper arm element of the 1 st inverter and the lower arm element of the 2 nd inverter are mounted; and
a 2 nd mounting substrate on which the upper arm element of the 2 nd inverter and the lower arm element of the 1 st inverter are mounted,
the upper arm member and the lower arm member of the 1 st inverter are mounted on different mounting substrates among the 1 st mounting substrate and the 2 nd mounting substrate,
the upper arm element and the lower arm element of the 2 nd inverter are mounted on different mounting substrates among the 1 st mounting substrate and the 2 nd mounting substrate.
3. A power conversion device, comprising:
a 1 st inverter having an upper arm element and a lower arm element, and connected to one end of each phase winding of the motor;
a 2 nd inverter having an upper arm member and a lower arm member, and connected to the other end opposite to the one end;
A 1 st power supply that supplies power to the upper arm element of the 1 st inverter and the lower arm element of the 2 nd inverter; and
a 2 nd power source that supplies power to the upper arm element of the 2 nd inverter and the lower arm element of the 1 st inverter,
the power conversion device has a double-sided mounting substrate on one of the front and back sides of which the upper arm element of the 1 st inverter and the lower arm element of the 2 nd inverter are mounted, and on the other side opposite to the one side of which the upper arm element of the 2 nd inverter and the lower arm element of the 1 st inverter are mounted
The upper arm element and the lower arm element of the 1 st inverter are mounted on different faces of the double-sided mounting substrate,
the upper arm element and the lower arm element of the 2 nd inverter are mounted on different faces of the double-sided mounting substrate.
4. A driving device, comprising:
the power conversion device of claim 1; and
and a motor connected to the power conversion device and supplied with the power converted by the power conversion device.
5. The driving device according to claim 4, wherein,
the power conversion device includes: a 1 st mounting substrate on which the upper arm element of the 1 st inverter and the lower arm element of the 2 nd inverter are mounted; and a 2 nd mounting substrate mounted with the upper arm member of the 2 nd inverter and the lower arm member of the 1 st inverter,
In the motor, both the one end and the other end of the winding are connected to one of the 1 st mounting board and the 2 nd mounting board, and the both pass through the one mounting board and are connected to the other mounting board.
6. A driving device, comprising:
the power conversion device of claim 2; and
and a motor connected to the power conversion device and supplied with the power converted by the power conversion device.
7. The driving device according to claim 6, wherein,
in the motor, both the one end and the other end of the winding are connected to one of the 1 st mounting board and the 2 nd mounting board, and the both pass through the one mounting board and are connected to the other mounting board.
8. A driving device, comprising:
the power conversion apparatus of claim 3; and
and a motor connected to the power conversion device and supplied with the power converted by the power conversion device.
9. A power steering apparatus, comprising:
a power conversion apparatus according to any one of claims 1 to 3;
A motor connected to the power conversion device and supplied with the power converted by the power conversion device; and
and a power steering mechanism driven by the motor.
CN201980013011.4A 2018-02-15 2019-02-08 Power conversion device, driving device, and power steering device Active CN111713002B (en)

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